CN209533381U - A kind of micromachine arm - Google Patents
A kind of micromachine arm Download PDFInfo
- Publication number
- CN209533381U CN209533381U CN201920097359.3U CN201920097359U CN209533381U CN 209533381 U CN209533381 U CN 209533381U CN 201920097359 U CN201920097359 U CN 201920097359U CN 209533381 U CN209533381 U CN 209533381U
- Authority
- CN
- China
- Prior art keywords
- cantilever crane
- shaft
- conveyer belt
- wheel
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Micromachines (AREA)
Abstract
The utility model relates to a kind of micromachine arms, the conveyer belt on driving pulley is set in including cantilever crane, with the affixed motor of cantilever crane, the driving pulley being installed on motor shaft and one end, the motor shaft extends along cantilever crane length direction, the execution shaft for being tensioned bend wheel and extend along cantilever crane width direction extended along cantilever crane short transverse is also connected on cantilever crane, it executes and driven pulley is installed in shaft, the transmission belt is around tensioning bend wheel and the other end is set on driven pulley.The utility model is transmitted using the vertical deflecting that conveyer belt realizes Motor torque, reduces the width dimensions of mechanical arm, to reduce occupied space, small-sized or microrobot is suitble to use.
Description
Technical field
The utility model relates to technical field of mechanical transmission more particularly to a kind of micromachine arms.
Background technique
With the continuous development of science and technology, robot is more and more applied, and the structure of manipulator also graduallys mature.
Manipulator common at present is all made of several mechanical arms, and adjacent mechanical arm is connect by the mutual axis of shaft, and passes through joint
Motor realizes angle change.In joint motor setting, motor shaft setting coaxial with shaft, to increase the width of mechanical arm
Size, occupied space is larger, is unfavorable for the miniaturization of robot.
Summary of the invention
In view of the shortcomings of the prior art, the utility model provides a kind of micromachine arm, by by motor shaft along mechanical arm
Length direction setting, reduces the occupied space of mechanical arm, can meet the use space requirement of microrobot.
The utility model is achieved by the following technical solution, and provides a kind of micromachine arm, including cantilever crane and cantilever crane
Affixed motor, the driving pulley being installed on motor shaft and one end are set in the conveyer belt on driving pulley, the motor shaft
Extend along cantilever crane length direction, is also connected on cantilever crane along the tensioning bend wheel of cantilever crane short transverse extension and along cantilever crane width side
To the execution shaft of extension, executes and driven pulley is installed in shaft, the conveyer belt is around tensioning bend wheel and another end cap
It is located on driven pulley.
Motor shaft is arranged this programme along cantilever crane length direction, reduces the width dimensions of mechanical arm, utilizes conveyer belt
Can bending characteristic, by setting tensioning bend wheel change power transmission direction, allow along cantilever crane length direction extend motor shaft lead to
It crosses conveyer belt and drives driven pulley rotation, and then drive the execution shaft rotation extended in the width direction, tensioning bend wheel is not only
Play the role of changing power transmission direction, and play tension, improves power transmission efficiency and reliability.
As optimization, the tensioning bend wheel includes two anti-deviation wheels of coaxial arrangement, and the both ends of the anti-deviation wheel are set
It is equipped with wheel edge, two sides of conveyer belt bypass two anti-deviation wheels respectively.This prioritization scheme will be tensioned bend wheel and be set as two solely
Vertical anti-deviation wheel, and on anti-deviation wheel setting wheel edge, keep two sides of conveyer belt mutually isolated, avoid phase mutual friction or
Winding can make the spacing on two sides of conveyer belt consistent with spindle outer diameter is executed, further by the position of the anti-deviation wheel of fixation
Improve transmission efficiency.
As optimization, the driving pulley and/or the wheel face for being tensioned bend wheel are equipped with circumferentially distributed groove, described
Conveyer belt is equipped with the band tooth being adapted to the groove.This prioritization scheme avoids conveyer belt and beats by setting groove and with tooth
It is sliding, improve the reliability of transmission.
As optimization, driving pulley is less than the width of conveyer belt with tensioning bend wheel at a distance from along cantilever crane length direction
Degree.The setting of this prioritization scheme distance can avoid causing it to fall off from driving pulley due to conveyer belt tension, install
When, the conveyer belt stretched out by driving pulley may be implemented and tensioning bend wheel is tangent, and the face of conveyer belt cladding driving pulley
Product is maximum, ensure that high transmission efficiency.
As optimization, the motor is two pieces, and execution shaft corresponding with two motors is coaxially arranged.By the way that two pieces is arranged
Motor, when two motors rotate synchronously, the torque for executing shaft can be improved may be implemented two and holds when two motors staggeredly work
Row shaft is alternately rotated, to complete corresponding actions.
As optimization, cantilever crane is equipped with two opposite otic placodes, and two execution shafts pass through bearing respectively and are mounted on two otic placodes.
By the way that two opposite otic placodes are arranged, increase two is facilitated to execute the distance between shafts, in without departing from mechanical arm width range into
The installation of row executing agency reduces frictional force when executing shaft rotation by the way that bearing is arranged, and is conducive to reduce motor function
Rate, and then reduce motor volume.
The application method of above-mentioned micromachine arm, including following aspect:
When motor is one:
(1) pass through the changed course load transfering strip of conveyer belt when motor rotates using end where the execution shaft of cantilever crane as actuating station
It is dynamic to execute shaft rotation, executing agency's rotation is driven by execution shaft；
(2) using cantilever crane as revolving member, shaft will be executed and connect with body, when motor rotates, pass through changing for conveyer belt
It is driven to power transmission and executes shaft rotation, realize the unitary rotation of cantilever crane, to drive other cantilever cranes or execute component rotation；
When motor is two pieces:
(1) using end where the execution shaft of cantilever crane as actuating station, two motors are rotated synchronously, and are passed by the changed course of conveyer belt
Power, which drives, executes shaft rotation, drives same executing agency to rotate by execution shaft；
(2) using end where the execution shaft of cantilever crane as actuating station, two motors are staggeredly rotated, and are passed by the changed course of conveyer belt
Power, which drives, executes shaft rotation, and two execution shafts drive two executing agencies to be alternately rotated respectively；
(3) using cantilever crane as revolving member, shaft will be executed and connect with body, two motors rotate synchronously, and pass through conveyer belt
Changed course power transmission drive execute shaft rotation, realize the unitary rotation of cantilever crane.
This method is very flexible for the use of micromachine arm, can satisfy different requirements, improves machinery
The application range of arm.
The utility model has the following beneficial effects: being transmitted using the vertical deflecting that conveyer belt realizes Motor torque, reduce
The width dimensions of mechanical arm are suitble to small-sized or microrobot to use to reduce occupied space.
Detailed description of the invention
Fig. 1 is the utility model front view；
Fig. 2 is the utility model top view；
It is as shown in the figure:
1, cantilever crane, 2, motor, 3, tensioning bend wheel, 4, conveyer belt, 5, driven pulley, 6, driving pulley, 7, execution shaft.
Specific embodiment
In order to clarify the technical characteristics of the invention, being illustrated below by specific embodiment to this programme.
A kind of micromachine arm as shown in Figure 1 including cantilever crane 1 and the affixed motor 2 of cantilever crane 1, is installed on motor shaft
Driving pulley 6 and one end are set in the conveyer belt 4 on driving pulley, and conveyer belt is rubber strip flexible or nylon tape, can be curved
Sell off shape.
Motor 2 is two pieces disposed in parallel, and motor shaft extends along cantilever crane length direction, is also connected on cantilever crane along cantilever crane height
Spend the tensioning bend wheel 3 that direction extends and the execution shaft 7 extended along cantilever crane width direction, execution shaft corresponding with two motors
It is coaxially arranged, driven pulley 5 is mounted in two execution shafts, the conveyer belt is around tensioning bend wheel and the other end is arranged
On driven pulley 5.The wheel shaft of execution shaft and tensioning wheel passes through bearing and connect with cantilever crane.
Driving pulley 6 and tensioning bend wheel 3 wheel face be equipped with circumferentially distributed groove, the conveyer belt be equipped with
The band tooth of the groove adaptation.Driving pulley is less than the width of conveyer belt with tensioning bend wheel at a distance from along cantilever crane length direction
Degree.
Tensioning bend wheel includes two anti-deviation wheels of coaxial arrangement, and the both ends of the anti-deviation wheel are provided with radially projecting
In the wheel edge of wheel face, two sides of conveyer belt 4 bypass two anti-deviation wheels respectively.
Cantilever crane is equipped with two opposite otic placodes, and two execution shafts 7 are mounted on two otic placodes by bearing respectively.It is set on cantilever crane
Dynamic chamber, drive cavity and performs chamber, motor are fixed in power cavity, partition of the motor shaft across power cavity and drive cavity
Drive cavity is extended to, driving pulley is located in drive cavity, and the space of two otic placodes composition is performs chamber.The setting of each section cavity, makes
Mechanical arm internal structure is more compact and reasonable.
The application method of micromachine arm, including following aspect:
When motor is one:
1, it using end where the execution shaft of cantilever crane as actuating station, executes shaft and is connect with existing executing agency, motor
It when rotation, is driven by the changed course power transmission of conveyer belt and executes shaft rotation, executing agency's rotation is driven by execution shaft, executes machine
Structure is selected according to actual needs；
2, using cantilever crane as revolving member, shaft will be executed and connect with body, when motor rotates, pass through the changed course of conveyer belt
Power transmission, which drives, executes shaft rotation, realizes the unitary rotation of cantilever crane.
When motor is two pieces:
1, using end where the execution shaft of cantilever crane as actuating station, two motors are rotated synchronously, and are passed by the changed course of conveyer belt
Power, which drives, executes shaft rotation, drives same executing agency to rotate by execution shaft；
2, using end where the execution shaft of cantilever crane as actuating station, two motors are staggeredly rotated, and are passed by the changed course of conveyer belt
Power, which drives, executes shaft rotation, and two execution shafts drive two executing agencies to be alternately rotated respectively；
3, using cantilever crane as revolving member, shaft will be executed and connect with body, two motors rotate synchronously, and pass through conveyer belt
The power transmission that alters course, which drives, executes shaft rotation, realizes the unitary rotation of cantilever crane.
Certainly, above description is also not limited to the example above, and technical characteristic of the utility model without description can lead to
It crosses or realizes that details are not described herein using the prior art；Above embodiments and attached drawing are merely to illustrate the technology of the utility model
Scheme is not limitations of the present invention, and the utility model is described in detail referring to preferred embodiment, this
Field it is to be appreciated by one skilled in the art that those skilled in the art institute in the essential scope of the utility model
The variations, modifications, additions or substitutions made without departure from the objective of the utility model, want by the right that also should belong to the utility model
Seek protection scope.
Claims (6)
1. a kind of micromachine arm, it is characterised in that: including cantilever crane (1) and cantilever crane (1) affixed motor (2), be installed in motor
Driving pulley (6) and one end on axis are set in the conveyer belt (4) on driving pulley, and the motor shaft prolongs along cantilever crane length direction
It stretches, the tensioning bend wheel (3) along the extension of cantilever crane short transverse and the execution along the extension of cantilever crane width direction is also connected on cantilever crane
Shaft (7), execute shaft on be equipped with driven pulley (5), the conveyer belt around tensioning bend wheel and the other end be set in from
On movable belt pulley (5).
2. a kind of micromachine arm according to claim 1, it is characterised in that: the tensioning bend wheel includes coaxial arrangement
Two anti-deviation wheels, the both ends of the anti-deviation wheel be provided with wheel edge, it is anti-deviation that two sides of conveyer belt (4) bypass two respectively
Wheel.
3. a kind of micromachine arm according to claim 1, it is characterised in that: the driving pulley (6) and/or tensioning change
It is equipped with circumferentially distributed groove to the wheel face of wheel (3), the conveyer belt is equipped with the band tooth being adapted to the groove.
4. a kind of micromachine arm according to claim 1, it is characterised in that: driving pulley and tensioning bend wheel are along arm
Distance on frame length direction is less than the width of conveyer belt.
5. a kind of micromachine arm according to claim 1, it is characterised in that: the motor (2) is two pieces, with two motors
Corresponding execution shaft is coaxially arranged.
6. a kind of micromachine arm according to claim 5, it is characterised in that: cantilever crane be equipped with two opposite otic placodes, two
Shaft (7) are executed to be mounted on two otic placodes by bearing respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920097359.3U CN209533381U (en) | 2019-01-22 | 2019-01-22 | A kind of micromachine arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920097359.3U CN209533381U (en) | 2019-01-22 | 2019-01-22 | A kind of micromachine arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209533381U true CN209533381U (en) | 2019-10-25 |
Family
ID=68270692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920097359.3U Active CN209533381U (en) | 2019-01-22 | 2019-01-22 | A kind of micromachine arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209533381U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590981A (en) * | 2019-01-22 | 2019-04-09 | 山东蝰蛇智能装备有限公司 | A kind of micromachine arm and its application method |
-
2019
- 2019-01-22 CN CN201920097359.3U patent/CN209533381U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590981A (en) * | 2019-01-22 | 2019-04-09 | 山东蝰蛇智能装备有限公司 | A kind of micromachine arm and its application method |
| CN109590981B (en) * | 2019-01-22 | 2024-05-28 | 山东蝰蛇智能装备有限公司 | Micro mechanical arm and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856191B (en) | The more body mechanisms of high speed of rope parallel drive | |
| CN201198136Y (en) | Joint type convey robot | |
| CN110315511A (en) | A kind of rope driving sorting machine people in parallel using passive tensioned | |
| CN102069495A (en) | Parallel robot | |
| CN108501039B (en) | Flexible mechanical arm based on ball hinge joint | |
| CN209533381U (en) | A kind of micromachine arm | |
| CN109176491A (en) | A kind of single-degree-of-freedom module that rope drives and the multiple-degree-of-freedom mechanism using it | |
| CN103240737B (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN109873528A (en) | A kind of electric system with state self-monitoring function | |
| CN2839738Y (en) | Mechanical transmission | |
| CN100460165C (en) | Electric cord driver for artificial joint | |
| CN201048344Y (en) | Device for converting rotary motion to straight reciprocating motion | |
| CN109590981A (en) | A kind of micromachine arm and its application method | |
| CN102072293B (en) | Speed reducing mechanism and transmission device adopted by same | |
| CN111037545B (en) | Rope drives formula arm of establishing ties | |
| CN210193097U (en) | Flexible cable transmission precision module | |
| CN108237522A (en) | A kind of wire drive and mechanical arm | |
| CN209642489U (en) | A kind of electric system with state self-monitoring function | |
| CN108340400B (en) | Flexible driving type bidirectional rotary robot joint | |
| CN202788411U (en) | Stretchable spring type lift door | |
| CN213999488U (en) | Stay wire transmission mechanism of mechanical arm and mechanical arm | |
| CN209375356U (en) | Separated type rotary driving device | |
| CN111015644B (en) | Rope drives formula arm based on coupling linkage | |
| CN113635290A (en) | Horizontal multi-joint robot | |
| CN209466255U (en) | A kind of vanning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |